A centralized framework assigns goals and plans globally deconflicted, kinodynamically feasible paths for multiple UAVs, maintaining persistent coverage with graceful degradation when resources are insufficient.
Journal of Field Robotics 31(6), 912–939 (2014)
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A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction
A centralized framework assigns goals and plans globally deconflicted, kinodynamically feasible paths for multiple UAVs, maintaining persistent coverage with graceful degradation when resources are insufficient.